\section*{\large Launcher description}
\begin{normalsize}

You will find two launchers:
\begin{itemize}
\item nxt\_lab4.launch for all the necessary: map and navigation nodes from lab 2 and the new robot node;
\begin{verbatim}
<launch>
  <node pkg="nxt_lab2" type="map" name="map"  output="screen">
    <param name="nxt_img_filename" value="$(find nxt_lab2)/img/nxt.png" type="str"/>
    <param name="cone_img_filename" value="$(find nxt_lab2)/img/cone.png" type="str"/>
  </node>
  
  <node pkg="nxt_lab2" type="navigation" name="navigation"  output="screen">
    <rosparam command="load" file="$(find nxt_lab2)/config/nxt_lab2.yaml" />$
  </node>

  <node pkg="nxt_lab4" type="robot_lab4" name="robot_lab4"  output="screen">
    <param name="calib_results_filename" 
    value="$(find nxt_lab4)/calibration/calib_results.txt" type="str"/>
  </node>
</launch>
\end{verbatim}
\item nxt\_lab4\_robot.launch for launching only the robot node, useful for debugging.
\begin{verbatim}
<launch>
  <node pkg="nxt_lab4" type="robot_lab4" name="robot_lab4"  output="screen">
    <param name="calib_results_filename" 
    value="$(find nxt_lab4)/calibration/calib_results.txt" type="str"/>
  </node>
</launch>
\end{verbatim}
\end{itemize}

\end{normalsize}